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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1171 | hbuss | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
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| 3 | #######################################################################################*/ |
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| 4 | |||
| 1426 | ingob | 5 | #include "Spektrum.h" |
| 1171 | hbuss | 6 | #include "main.h" |
| 1680 | holgerb | 7 | // Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
| 1506 | holgerb | 8 | |
| 1320 | hbuss | 9 | unsigned char SpektrumTimer = 0; |
| 1171 | hbuss | 10 | |
| 1506 | holgerb | 11 | #ifdef RECEIVER_SPEKTRUM_EXP |
| 1680 | holgerb | 12 | unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
| 13 | unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
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| 14 | signed char s_exdata[11]; // Data for Spektrum-Expander |
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| 1506 | holgerb | 15 | #endif |
| 1213 | ingob | 16 | //--------------------------------------------------------------// |
| 17 | //--------------------------------------------------------------// |
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| 1743 | holgerb | 18 | /* |
| 1213 | ingob | 19 | void SpektrumBinding(void) |
| 20 | { |
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| 21 | unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
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| 22 | unsigned char connected = 0; |
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| 23 | unsigned int delaycounter; |
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| 1391 | killagreg | 24 | |
| 1213 | ingob | 25 | UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| 26 | UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
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| 27 | PORTD &= ~(1 << PORTD2); // disable pull-up |
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| 1391 | killagreg | 28 | |
| 1213 | ingob | 29 | printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| 1391 | killagreg | 30 | |
| 1213 | ingob | 31 | while(!CheckDelay(timerTimeout)) |
| 32 | { |
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| 33 | if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
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| 34 | } |
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| 1391 | killagreg | 35 | |
| 36 | if (connected) |
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| 37 | { |
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| 38 | |||
| 39 | printf("ok.\n\r"); |
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| 1213 | ingob | 40 | DDRD |= (1 << DDD2); // Rx as output |
| 41 | |||
| 1680 | holgerb | 42 | while(!CheckDelay(timerTimeout)); // delay after startup of RX |
| 43 | for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
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| 44 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 1391 | killagreg | 45 | |
| 1680 | holgerb | 46 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| 1213 | ingob | 47 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| 1680 | holgerb | 48 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| 49 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 1391 | killagreg | 50 | |
| 1680 | holgerb | 51 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| 1213 | ingob | 52 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| 1680 | holgerb | 53 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| 54 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 1213 | ingob | 55 | |
| 1680 | holgerb | 56 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| 1213 | ingob | 57 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| 1680 | holgerb | 58 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| 1391 | killagreg | 59 | |
| 1213 | ingob | 60 | } |
| 1391 | killagreg | 61 | else |
| 62 | { printf("Timeout.\n\r"); |
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| 63 | |||
| 64 | |||
| 1213 | ingob | 65 | } |
| 1391 | killagreg | 66 | |
| 1213 | ingob | 67 | DDRD &= ~(1 << DDD2); // RX as input |
| 1391 | killagreg | 68 | PORTD &= ~(1 << PORTD2); |
| 1213 | ingob | 69 | |
| 1424 | ingob | 70 | SpektrumUartInit(); // init Uart again |
| 1213 | ingob | 71 | } |
| 1743 | holgerb | 72 | */ |
| 1171 | hbuss | 73 | //############################################################################ |
| 74 | // USART1 initialisation from killagreg |
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| 1424 | ingob | 75 | void SpektrumUartInit(void) |
| 1171 | hbuss | 76 | //############################################################################ |
| 77 | { |
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| 1680 | holgerb | 78 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
| 79 | // USART1 Control and Status Register A, B, C and baud rate register |
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| 80 | uint8_t sreg = SREG; |
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| 81 | |||
| 82 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
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| 83 | |||
| 84 | // disable all interrupts before reconfiguration |
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| 85 | cli(); |
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| 86 | // disable RX-Interrupt |
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| 87 | UCSR1B &= ~(1 << RXCIE1); |
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| 88 | // disable TX-Interrupt |
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| 89 | UCSR1B &= ~(1 << TXCIE1); |
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| 90 | // disable DRE-Interrupt |
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| 91 | UCSR1B &= ~(1 << UDRIE1); |
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| 92 | // set direction of RXD1 and TXD1 pins |
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| 93 | // set RXD1 (PD2) as an input pin |
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| 94 | PORTD |= (1 << PORTD2); |
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| 95 | DDRD &= ~(1 << DDD2); |
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| 1431 | ingob | 96 | |
| 1680 | holgerb | 97 | // set TXD1 (PD3) as an output pin |
| 98 | PORTD |= (1 << PORTD3); |
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| 99 | DDRD |= (1 << DDD3); |
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| 100 | |||
| 101 | // USART0 Baud Rate Register |
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| 102 | // set clock divider |
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| 103 | UBRR1H = (uint8_t)(ubrr>>8); |
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| 104 | UBRR1L = (uint8_t)ubrr; |
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| 105 | // enable double speed operation |
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| 106 | UCSR1A |= (1 << U2X1); |
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| 107 | // enable receiver and transmitter |
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| 108 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
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| 1391 | killagreg | 109 | |
| 1680 | holgerb | 110 | UCSR1B = (1<<RXEN1); |
| 111 | // set asynchronous mode |
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| 112 | UCSR1C &= ~(1 << UMSEL11); |
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| 113 | UCSR1C &= ~(1 << UMSEL10); |
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| 114 | // no parity |
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| 115 | UCSR1C &= ~(1 << UPM11); |
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| 116 | UCSR1C &= ~(1 << UPM10); |
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| 117 | // 1 stop bit |
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| 118 | UCSR1C &= ~(1 << USBS1); |
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| 119 | // 8-bit |
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| 120 | UCSR1B &= ~(1 << UCSZ12); |
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| 121 | UCSR1C |= (1 << UCSZ11); |
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| 122 | UCSR1C |= (1 << UCSZ10); |
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| 123 | // flush receive buffer explicit |
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| 124 | while(UCSR1A & (1<<RXC1)) UDR1; |
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| 125 | // enable RX-interrupts at the end |
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| 126 | UCSR1B |= (1 << RXCIE1); |
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| 127 | // -- End of USART1 initialisation |
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| 128 | // restore global interrupt flags |
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| 1431 | ingob | 129 | |
| 1680 | holgerb | 130 | SREG = sreg; |
| 1171 | hbuss | 131 | return; |
| 132 | } |
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| 1391 | killagreg | 133 | |
| 1171 | hbuss | 134 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 135 | // + Copyright (c) Rainer Walther |
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| 136 | // + RC-routines from original MK rc.c (c) H&I |
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| 137 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
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| 138 | // + only for non-profit use |
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| 139 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 140 | // |
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| 141 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
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| 142 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
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| 143 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
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| 144 | // Replace AR6100-coding with original composit-signal routines |
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| 145 | // |
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| 146 | // --- |
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| 147 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
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| 148 | // Binding is not implemented. Bind with external Receiver. |
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| 149 | // Servo output J3, J4, J5 not serviced |
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| 150 | // |
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| 151 | // Anschuß Spektrum Receiver |
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| 1680 | holgerb | 152 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
| 153 | // Schwarz: GND |
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| 154 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
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| 1171 | hbuss | 155 | // |
| 156 | // --- |
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| 157 | // Satellite-Reciever connected on USART1: |
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| 158 | // |
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| 159 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
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| 160 | // DX7se: One data-frame at 115200 baud every 11ms. |
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| 1680 | holgerb | 161 | // byte1: unknown |
| 162 | // byte2: unknown |
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| 163 | // byte3: and byte4: channel data (FLT-Mode) |
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| 164 | // byte5: and byte6: channel data (Roll) |
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| 165 | // byte7: and byte8: channel data (Nick) |
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| 166 | // byte9: and byte10: channel data (Gier) |
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| 167 | // byte11: and byte12: channel data (Gear Switch) |
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| 168 | // byte13: and byte14: channel data (Gas) |
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| 169 | // byte15: and byte16: channel data (AUX2) |
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| 1171 | hbuss | 170 | // |
| 171 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
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| 172 | // 1st Frame: |
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| 1680 | holgerb | 173 | // byte1: unknown |
| 174 | // byte2: unknown |
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| 175 | // byte3: and byte4: channel data |
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| 176 | // byte5: and byte6: channel data |
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| 177 | // byte7: and byte8: channel data |
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| 178 | // byte9: and byte10: channel data |
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| 179 | // byte11: and byte12: channel data |
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| 180 | // byte13: and byte14: channel data |
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| 181 | // byte15: and byte16: channel data |
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| 1171 | hbuss | 182 | // 2nd Frame: |
| 1680 | holgerb | 183 | // byte1: unknown |
| 184 | // byte2: unknown |
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| 185 | // byte3: and byte4: channel data |
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| 186 | // byte5: and byte6: channel data |
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| 187 | // byte7: and byte8: 0xffff |
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| 188 | // byte9: and byte10: 0xffff |
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| 189 | // byte11: and byte12: 0xffff |
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| 190 | // byte13: and byte14: 0xffff |
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| 191 | // byte15: and byte16: 0xffff |
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| 1171 | hbuss | 192 | // |
| 193 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
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| 194 | // |
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| 195 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
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| 196 | // |
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| 197 | // 0 means a '0' bit |
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| 198 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
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| 199 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
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| 200 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
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| 201 | // |
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| 202 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 203 | |||
| 1322 | hbuss | 204 | #define MIN_FRAMEGAP 68 // 7ms |
| 205 | #define MAX_BYTEGAP 3 // 310us |
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| 1320 | hbuss | 206 | |
| 1419 | ingob | 207 | |
| 1171 | hbuss | 208 | //############################################################################ |
| 1481 | holgerb | 209 | // Wird im UART-Interrupt aufgerufen |
| 1171 | hbuss | 210 | //############################################################################ |
| 1419 | ingob | 211 | void SpektrumParser(unsigned char c) |
| 1171 | hbuss | 212 | { |
| 1320 | hbuss | 213 | static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
| 1680 | holgerb | 214 | unsigned int Channel, index = 0; |
| 215 | signed int signal = 0, tmp; |
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| 216 | int bCheckDelay; |
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| 217 | // c = UDR1; // get data byte |
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| 218 | if(ReSync == 1) |
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| 219 | { |
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| 220 | // wait for beginning of new frame |
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| 221 | ReSync = 0; |
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| 222 | SpektrumTimer = MIN_FRAMEGAP; |
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| 223 | FrameCnt = 0; |
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| 224 | Sync = 0; |
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| 225 | ByteHigh = 0; |
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| 226 | } |
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| 1171 | hbuss | 227 | else |
| 1391 | killagreg | 228 | { |
| 1680 | holgerb | 229 | if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
| 230 | if ( Sync == 0 ) |
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| 231 | { |
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| 232 | if(bCheckDelay) |
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| 233 | { |
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| 234 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
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| 235 | // Zeichen ignorieren, da Bedeutung unbekannt |
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| 236 | Sync = 1; |
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| 237 | FrameCnt ++; |
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| 238 | SpektrumTimer = MAX_BYTEGAP; |
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| 239 | } |
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| 240 | else |
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| 241 | { |
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| 242 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
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| 243 | // warten auf erstes Sync-Zeichen |
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| 244 | SpektrumTimer = MIN_FRAMEGAP; |
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| 245 | FrameCnt = 0; |
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| 246 | Sync = 0; |
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| 247 | ByteHigh = 0; |
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| 248 | } |
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| 249 | } |
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| 250 | else if((Sync == 1) && !bCheckDelay) |
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| 251 | { |
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| 252 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
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| 253 | Sync = 2; |
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| 254 | FrameCnt ++; |
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| 255 | SpektrumTimer = MAX_BYTEGAP; |
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| 256 | } |
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| 257 | else if((Sync == 2) && !bCheckDelay) |
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| 258 | { |
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| 259 | SpektrumTimer = MAX_BYTEGAP; |
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| 260 | // Datenbyte high |
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| 261 | ByteHigh = c; |
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| 262 | if (FrameCnt == 2) |
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| 263 | { |
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| 264 | // is 1st Byte of Channel-data |
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| 265 | // Frame 1 with Channel 1-7 comming next |
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| 266 | Frame2 = 0; |
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| 267 | if(ByteHigh & 0x80) |
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| 268 | { |
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| 269 | // DS9: Frame 2 with Channel 8-9 comming next |
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| 270 | Frame2 = 1; |
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| 271 | } |
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| 272 | } |
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| 273 | Sync = 3; |
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| 274 | FrameCnt ++; |
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| 275 | } |
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| 276 | else if((Sync == 3) && !bCheckDelay) |
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| 277 | { |
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| 278 | // Datenbyte low |
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| 279 | // High-Byte for next channel comes next |
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| 280 | SpektrumTimer = MAX_BYTEGAP; |
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| 281 | Sync = 2; |
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| 282 | FrameCnt ++; |
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| 283 | Channel = ((unsigned int)ByteHigh << 8) | c; |
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| 284 | if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
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| 285 | { |
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| 286 | signal = Channel & 0x3ff; |
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| 287 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
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| 288 | signal = signal/3; // scaling to fit PPM resolution |
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| 289 | index = (ByteHigh >> 2) & 0x0f; |
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| 290 | } |
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| 291 | else |
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| 292 | if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
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| 293 | { |
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| 294 | signal = Channel & 0x7ff; |
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| 295 | signal -= 0x400; // Offset, range 0x000..0x7ff? |
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| 296 | signal = signal/6; // scaling to fit PPM resolution |
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| 297 | index = (ByteHigh >> 3) & 0x0f; |
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| 298 | } |
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| 299 | else |
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| 300 | //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
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| 301 | { |
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| 302 | signal = Channel & 0x3ff; |
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| 303 | signal -= 360; // Offset, range 0x000..0x3ff? |
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| 304 | signal = signal/2; // scaling to fit PPM resolution |
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| 305 | index = (ByteHigh >> 2) & 0x0f; |
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| 306 | } |
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| 1391 | killagreg | 307 | |
| 1680 | holgerb | 308 | index++; |
| 309 | if(index < 13) |
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| 310 | { |
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| 311 | // Stabiles Signal |
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| 1506 | holgerb | 312 | #ifdef RECEIVER_SPEKTRUM_EXP |
| 1680 | holgerb | 313 | if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
| 314 | else if (index == 4) index = 2; |
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| 1506 | holgerb | 315 | #endif |
| 1680 | holgerb | 316 | if(abs(signal - PPM_in[index]) < 6) |
| 317 | { |
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| 318 | if(SenderOkay < 200) SenderOkay += 10; |
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| 319 | else |
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| 320 | { |
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| 321 | SenderOkay = 200; |
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| 322 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
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| 323 | } |
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| 324 | } |
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| 325 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 326 | if(tmp > signal+1) tmp--; else |
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| 327 | if(tmp < signal-1) tmp++; |
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| 328 | |||
| 1506 | holgerb | 329 | #ifdef RECEIVER_SPEKTRUM_EXP |
| 1680 | holgerb | 330 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| 1506 | holgerb | 331 | { |
| 1680 | holgerb | 332 | if (signal > 100) // SYNC received |
| 1506 | holgerb | 333 | { |
| 1680 | holgerb | 334 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| 335 | if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
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| 336 | { |
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| 337 | if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
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| 338 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
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| 339 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
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| 340 | PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
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| 341 | PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
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| 342 | PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
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| 343 | |||
| 344 | if (s_excnt == 9) // New Mode (12 Channels) |
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| 345 | { |
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| 346 | if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
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| 347 | if (s_exdata[8] == 125) PPM_in[8] -= 5; // Hover Pitch DN (CH8) |
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| 348 | if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
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| 349 | else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
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| 350 | PPM_in[10] = s_exdata[6]; // AUX2 (CH10) |
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| 351 | } |
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| 352 | } |
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| 353 | |||
| 354 | s_excnt = 0; // Reset bitcounter |
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| 355 | s_exparity = 0; // Reset parity bit |
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| 1506 | holgerb | 356 | } |
| 357 | |||
| 1680 | holgerb | 358 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| 359 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
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| 1506 | holgerb | 360 | if (signal < -100) |
| 361 | { |
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| 1680 | holgerb | 362 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| 363 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
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| 1506 | holgerb | 364 | } |
| 1680 | holgerb | 365 | |
| 1506 | holgerb | 366 | } |
| 367 | #endif |
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| 368 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 1680 | holgerb | 369 | else PPM_diff[index] = 0; |
| 1506 | holgerb | 370 | |
| 371 | #ifdef RECEIVER_SPEKTRUM_EXP |
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| 1680 | holgerb | 372 | if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
| 373 | else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
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| 374 | else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
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| 1506 | holgerb | 375 | #else |
| 376 | PPM_in[index] = tmp; |
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| 377 | #endif |
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| 1171 | hbuss | 378 | } |
| 1506 | holgerb | 379 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| 1680 | holgerb | 380 | } |
| 381 | else |
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| 382 | { |
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| 383 | // hier stimmt was nicht: neu synchronisieren |
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| 384 | ReSync = 1; |
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| 385 | FrameCnt = 0; |
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| 386 | Frame2 = 0; |
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| 387 | // new frame next, nach fruehestens 7ms erwartet |
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| 388 | SpektrumTimer = MIN_FRAMEGAP; |
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| 389 | } |
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| 1391 | killagreg | 390 | |
| 1680 | holgerb | 391 | // 16 Bytes eingetroffen -> Komplett |
| 392 | if(FrameCnt >= 16) |
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| 393 | { |
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| 394 | // Frame complete |
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| 395 | if(Frame2 == 0) |
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| 396 | { |
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| 397 | // Null bedeutet: Neue Daten |
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| 398 | // nur beim ersten Frame (CH 0-7) setzen |
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| 399 | if(!ReSync) NewPpmData = 0; |
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| 400 | } |
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| 401 | FrameCnt = 0; |
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| 402 | Frame2 = 0; |
||
| 403 | Sync = 0; |
||
| 404 | SpektrumTimer = MIN_FRAMEGAP; |
||
| 405 | } |
||
| 1171 | hbuss | 406 | } |
| 1391 | killagreg | 407 | } |